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The problem of fault diagnosis in thrusters of autonomous underwater vehicle is studied. Solution of the problem involves residual generation as a result of mismatch between vehicle behaviour and its reference model behaviour followed by decision making via evaluation of the residual. Sensitivity theory based methods are developed for the design of both residual generator and decision making procedure...
A Fault Detection and Isolation (FDI) method for a generic 3D aircraft is presented. The behavior of the aircraft is described by a nonlinear control-affine model, which is closed-loop controlled by a classical guidance, navigation and control (GNC) algorithm. The proposed FDI procedure exploits the redundancy induced by this control module, along with the accelerations measured by the Inertial Measurement...
In this paper, a design methodology and implementation architecture for diagnosers in the framework of hybrid systems is proposed. The design methodology is based on the hybrid automata model that represents the system behaviour by means of the interaction of continuous dynamics and discrete events. The architecture is composed by means of modules which realize the mode recognition and diagnostic...
Leaks are present to some extent in all water-distribution systems. This paper proposes a leakage localization method based on pressure measurements and the application of principal component analysis to the fault diagnosis in water distribution systems. First, some theoretical basics are introduced, from model building and modeling the fault effects to monitoring. Then a simple hydraulic case study...
The paper addresses the problem of designing a robust fault detection filter (RFDF) for a class of nonlinear descriptor systems whose nonlinear term are globally Lipschitz and linear term described by a linear parameter varying (LPV) form. The influence of perturbations on the residuals is minimized using the H∞ norm while the sensitivity performance is guaranteed using the H∞ index. Based on the...
In this work, we consider an observer-based fault detection (FD) problem for linear time invariant systems at DC (ω = 0). A simple parameterization of all optimal solutions is derived such that the FD filter generates a residual signal which minimizes the sensitivity of the residual to disturbances while maintaining a minimum level of sensitivity to faults. Linear matrix inequality (LMI) techniques...
In this paper, a model-based fault diagnosis methodology for PEM fuel cell systems is presented. The methodology is based on computing residuals using a LPV observer. The problem of robustness is faced using adaptive thresholds generated with interval observers. Fault isolation is performed using structured residuals once the fault has been detected. The algorithm proposed here is able to identify...
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